static_transformation.xml

<launch>
<node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0.5 0 1 0 0 0 imu_frame base_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="link2_broadcaster" args="0 0.5 0 1 0 0 0 base_link imu_frame" />
<node pkg="tf2_ros" type="static_transform_publisher" name="link3_broadcaster" args="0 0 0 0 0 0 1 imu_frame base_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="link4_broadcaster" args="0 0 0 0 0 0 1 base_link imu_frame" />
</launch>